[Bug Report] Joint Armature and Friction Randomisation Bug

[LeoHurryUp]

Describe the bug

The _process_actuators_cfg function fails to correctly update the armature and friction properties in the self._data.default_joint_armature and self._data.default_joint_friction dictionary. This omission causes issues when using the randomize_joint_parameters function to randomize the armature with a scale, as the default armature values remain zero, leading to a training crash.

Steps to reproduce

Use the randomize_joint_parameters function to randomize the armature with scale

default_joint_armature:  tensor([[0., 0., 0.,  ..., 0., 0., 0.],
        [0., 0., 0.,  ..., 0., 0., 0.],
        [0., 0., 0.,  ..., 0., 0., 0.],
        ...,
        [0., 0., 0.,  ..., 0., 0., 0.],
        [0., 0., 0.,  ..., 0., 0., 0.],
        [0., 0., 0.,  ..., 0., 0., 0.]], device='cuda:0')

System Info

Describe the characteristic of your environment:

• Commit: 6a415df
• Isaac Sim Version: 4.5
• OS: Ubuntu 22.04
• GPU: RTX 3090
• CUDA: 12.4
• GPU Driver: 550.120

Additional context

Add the following code

self._data.default_joint_armature[:, actuator.joint_indices] = actuator.armature
self._data.default_joint_friction[:, actuator.joint_indices] = actuator.friction

after

# Store the actual default stiffness and damping values for explicit and implicit actuators (not written the sim)
self._data.default_joint_stiffness[:, actuator.joint_indices] = actuator.stiffness
self._data.default_joint_damping[:, actuator.joint_indices] = actuator.damping

would be helpful.

Checklist

• I have checked that there is no similar issue in the repo (required)
• I have checked that the issue is not in running Isaac Sim itself and is related to the repo

Acceptance Criteria

Add the criteria for which this task is considered done. If not known at issue creation time, you can add this once the issue is assigned.

• Update the _process_actuators_cfg function to include the missing lines for armature and friction.

[RandomOakForest]

Thanks for posting this. The team will investigate.

[Mayankm96]

This is under works here: #1873